• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.267-270
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• 1995

In this paper, a variable structure control scheme with a terminal sliding mode is proposed for robot manipulators. The proposed control scheme guarantees that the output tracking error converges to zero in finite time, and the overall system shows robust property against parametric uncertainties and external disturbances all the time.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.153-158
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• 2000

This paper addresses an intelligent robot control system using an off-line programming to teach a precise assembly task of electronic components in a flexible way. The investigated task consists of three job: heat caulking test, soldering on a circuit board, and checking of soldering defects on the back cover of a camera. This study investigates the remodelling of the most complicated cell in terms of the accuracy and fault rate among the twelve cells in a camera back-cover assembly line. We have attempted to enhance back-cover assembly line. We have attempted to enhance soldering quality, to add task flexibility, to reduce failure rate, and to increase product reliability. This study modifies the cell structure, and improves the soldering condition. The developed all system implements the real-time control of assembly with vision data, and realized an easier task teaching on off-line programming.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.16 no.3
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• pp.39-52
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• 2006

Recently purpose is used by an crucial part to security management when collecting data about privacy. The W3C(World Wide Web Consortium) describes a standard spec to control personal data that is provided by data providers who visit the web site. But they don't say anymore about security management about personal data in transit after data collection. Recently several researches, such as Hippocratic Databases, Purpose Based Access Control and Hippocratic in Databases, are dealing with security management using purpose concept and access control mechanism after data collection a W3C's standard spec about data collection mechanism but they couldn't suggest an efficient mechanism for privacy protection about personal data because they couldn't represent purpose expression and management of purposes sufficiently. In this paper we suggest a mechanism to improve the purpose expression. And then we suggest an accesscontrol mechanism that is under least privilege principle using the purpose classification for privacy protection. We classify purpose into Along purpose structure, Inheritance purpose structure and Stream purpose structure. We suggest different mechanisms to deal with then We use the role hierarchy structure of RBAC(Role-Based Access Control) for flexibility about access control and suggest mechanisms that provide the least privilege for processing the task in case that is satisfying using several features of purpose to get least privilege of a task that is a nit of business process.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.1-5
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• 1988

The realization of high quality robot control needs the improvement of computing speed of controller. In this paper, parallel processing method is considered for this purpose. A S/W algorithm for task scheduling is developed first, and then, an appropriate H/W structure is proposed. This scheme is applied to calculate inverse kinematics of PUMA robot. The simulation results show that the computing time when using three 8086/87's is reduced to 4.23 msec compared to 10 msec in case using one 8086/87.

• Journal of KIISE:Software and Applications
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• v.26 no.1
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• pp.106-106
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• 1999

When we design real-time software target system is analyzed and then we structure sequential executive modules into concurrent tasks. As a result of the analysis, control flow and dataflow diagram based on the RTSA notation is produced. This diagram is structured into concurrenttasks under the condition that performance problem is not serious. The criteria structuring concurrenttasks are introduced as Concurrent Design Approach for Real-Time System(CODARTS) by Gomaa.But structuring concurrent tasks using the criteria of CODARTS is somewhat difficult because thecriteria are dependent on designer's experience. CODARTS is an wide-range and abstractmethodology. As a result, the design can be inconsistent and peoples can understand it differently Inthis paper, we restructure the CODARTS methodology, propose a revised CODARTS structure andrepresent the task structuring steps for this new framework to overcome the understanding andinconsistency problems. The revised CODARTS framework and task structuring steps can be used toautomate the design of real time concurrent software systems. Finally, we show an example of taskstructuring in revised CODARTS framework.

• Smart Structures and Systems
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• v.11 no.3
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• pp.315-329
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• 2013

The construction of an experimental nonlinear structural model with little cost and unlimited repeatability for vibration control study represents a challenging task, especially for material nonlinearity. This paper reports the design, analysis and vibration control of a nonlinear structural experiment platform with adjustable hinges. In our approach, magnetorheological rotary brakes are substituted for the joints of a frame structure to simulate the nonlinear material behaviors of plastic hinges. For vibration control, a separate magnetorheological damper was employed to provide semi-active damping force to the nonlinear structure. A dynamic neural network was designed as a state observer to enable the feedback based semi-active vibration control. Based on the dynamic neural network observer, an adaptive fuzzy sliding mode based output control was developed for the magnetorheological damper to suppress the vibrations of the structure. The performance of the intelligent control algorithm was studied by subjecting the structure to shake table experiments. Experimental results show that the magnetorheological rotary brake can simulate the nonlinearity of the structural model with good repeatability. Moreover, different nonlinear behaviors can be achieved by controlling the input voltage of magnetorheological rotary damper. Different levels of nonlinearity in the vibration response of the structure can be achieved with the above adaptive fuzzy sliding mode control algorithm using a dynamic neural network observer.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.121-122
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• 2002

The main principle of radiation therapy is to deliver optimum dose to tumor to increase tumor cure probability while minimizing dose to critical normal structure to reduce complications. RTP system is required for proper dose plan in radiation therapy treatment. The main goal of this research is to develop dose model for photon, electron, and brachytherapy, and to display dose distribution on patient images with optimum process. The main items developed in this research includes: (l) user requirements and quality control; analysis of user requirement in RTP, networking between RTP and relevant equipment, quality control using phantom for clinical application (2) dose model in RTP; photon, electron, brachytherapy, modifying dose model (3) image processing and 3D visualization; 2D image processing, auto contouring, image reconstruction, 3D visualization (4) object modeling and graphic user interface; development of total software structure, step-by-step planning procedure, window design and user-interface. Our final product show strong capability for routine and advance RTP planning.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.946-951
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• 2009

The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.11a
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• pp.305-308
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• 2003

Recently, a structure has been large and high under the improvement of construction technique. So, mass concrete constructions that a mat foundation thickness of structure is over 80cm have been many. Also, in the reason of high strength of concrete, a matter of thermal crack became an important task to be solved. In this study, we executed temperature and stress analysis of mat foundation. And we evaluated quantitatively about the possibility of thermal crack by using hydration heat analysis program. Because of this analysis technique, we could control skilfully the quality of mat foundation in a construction.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.1
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• pp.162-169
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• 2022

Arduino is used in various places such as education, experimentation, and industry. Due to the easy accessibility of Arduino, it is often used by non-majors, and it is also used in media art and toy programs. Although Arduino is relatively easy to use compared to other devices, it is not easy to control various IoT components at the same time. Some tasks run independently of other tasks, while others run dependently. In this paper, I proposed the Arduino Task Framework to efficiently execute many tasks in these various situations. The design framework of this paper is largely composed of two types: synchronous execution and asynchronous execution. These two execution methods can be combined to create several independent and dependent execution routines. Asynchronous tasks are independently executed tasks and are managed by AsyncTaskGroup, while synchronous tasks are dependently executed tasks and are managed by SyncTaskGroup. AsyncTaskGroup instance and SyncTaskGroup instance are instances of the same Task and can be used in combination with another task. The Arduino framework proposed in this paper simplifies the program structure and can easily compose various tasks.